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isaac_linkerbot/urdf/l20/left/linkerhand_l20_left.urdf
T
sunxianghui 0b727785c6 Add LinkerHand Isaac Sim bridge and G20 assets. 
Includes G20 PLAN/cmd_u8 bridge, joint mapping, dual-hand sim scripts,
and G20/L20/O6 URDF with USD payloads for Isaac Sim integration.

Co-authored-by: Cursor <cursoragent@cursor.com>
2026-07-27 14:13:00 +08:00

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<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
name="linkerhand_l20_left">
<material name="silver">
<color rgba="0.5 0.5 0.52 1.0"/>
</material>
<material name="BlackAccent">
<color rgba="0.15 0.15 0.15 1.0"/>
</material>
<link
name="hand_base_link">
<inertial>
<origin
xyz="-0.0116727722939327 0.00239170872843489 0.0871762920744696"
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</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/hand_base_link.STL" />
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/hand_base_link.STL" />
</geometry>
</collision>
</link>
<link
name="pinky_metacarpals">
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<origin
xyz="0.011273359749834 5.58797362021357E-07 0.00220163360579343"
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xyz="0 0 0"
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</link>
<joint
name="pinky_mcp_roll"
type="revolute">
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<link
name="pinky_proximal">
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name="pinky_mcp_pitch"
type="revolute">
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rpy="0 0 0" />
<parent
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<child
link="pinky_proximal" />
<axis
xyz="0 1 0" />
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effort="1"
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</joint>
<link
name="pinky_middle">
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</link>
<joint
name="pinky_pip"
type="revolute">
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<parent
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<mimic
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name="ring_metacarpals">
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<visual>
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<material name="BlackAccent"/>
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<mesh
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</link>
<joint
name="ring_mcp_roll"
type="revolute">
<origin
xyz="-0.0322943001717225 0.0165019360798537 0.1593114381003"
rpy="0 0 0" />
<parent
link="hand_base_link" />
<child
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<axis
xyz="1 0 0" />
<limit
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effort="1"
velocity="1" />
</joint>
<link
name="ring_proximal">
<inertial>
<origin
xyz="-0.00259919760687244 1.80263410521353E-05 0.0223540470075662"
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<mass
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<visual>
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<material name="silver"/>
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<origin
xyz="0 0 0"
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<geometry>
<mesh
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</collision>
</link>
<joint
name="ring_mcp_pitch"
type="revolute">
<origin
xyz="0.0167698082541766 -1.26288306177003E-05 0"
rpy="0 0 0" />
<parent
link="ring_metacarpals" />
<child
link="ring_proximal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.4"
effort="1"
velocity="1" />
</joint>
<link
name="ring_middle">
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xyz="-0.000210992899039725 2.84919478066303E-06 0.0168376232416402"
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<visual>
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<collision>
<origin
xyz="0 0 0"
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filename="meshes/ring_middle.STL" />
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</collision>
</link>
<joint
name="ring_pip"
type="revolute">
<origin
xyz="-0.00419455239160021 0 0.0448194355727413"
rpy="0 0 0" />
<parent
link="ring_proximal" />
<child
link="ring_middle" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.57"
effort="1"
velocity="1" />
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name="ring_distal">
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<material name="silver"/>
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<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/ring_distal.STL" />
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</collision>
</link>
<joint
name="ring_dip"
type="revolute">
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xyz="0.00275561954550363 0 0.0317024242175084"
rpy="0 0 0" />
<parent
link="ring_middle" />
<child
link="ring_distal" />
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xyz="0 1 0" />
<limit
lower="0"
upper="1.4"
effort="1"
velocity="1" />
<mimic
joint="ring_pip"
multiplier="0.8917"
offset="0" />
</joint>
<link
name="middle_metacarpals">
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xyz="0.0112733597498333 5.58797360966645E-07 0.00220163360579468"
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<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/middle_metacarpals.STL" />
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<material name="BlackAccent"/>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/middle_metacarpals.STL" />
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</link>
<joint
name="middle_mcp_roll"
type="revolute">
<origin
xyz="-0.0345991283789502 -0.00509806392012034 0.163804328353988"
rpy="0 0 0" />
<parent
link="hand_base_link" />
<child
link="middle_metacarpals" />
<axis
xyz="1 0 0" />
<limit
lower="-0.17"
upper="0.17"
effort="1"
velocity="1" />
</joint>
<link
name="middle_proximal">
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xyz="-0.00259919760684438 1.80263407566217E-05 0.0223540470073731"
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<joint
name="middle_mcp_pitch"
type="revolute">
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rpy="0 0 0" />
<parent
link="middle_metacarpals" />
<child
link="middle_proximal" />
<axis
xyz="0 1 0" />
<limit
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</joint>
<link
name="middle_middle">
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</link>
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name="middle_pip"
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effort="1"
velocity="1" />
<mimic
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multiplier="0.8917"
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</joint>
<link
name="index_metacarpals">
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<visual>
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xyz="0 0 0"
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</link>
<joint
name="index_mcp_roll"
type="revolute">
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xyz="-0.029865288607565 -0.0266980639200853 0.159311439204817"
rpy="0 0 0" />
<parent
link="hand_base_link" />
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link="index_metacarpals" />
<axis
xyz="1 0 0" />
<limit
lower="-0.17"
upper="0.17"
effort="1"
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</joint>
<link
name="index_proximal">
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xyz="0 0 0"
rpy="0 0 0" />
<geometry>
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filename="meshes/index_proximal.STL" />
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</link>
<joint
name="index_mcp_pitch"
type="revolute">
<origin
xyz="0.0167698082541766 -1.26288306177003E-05 0"
rpy="0 0 0" />
<parent
link="index_metacarpals" />
<child
link="index_proximal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.4"
effort="1"
velocity="1" />
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<link
name="index_middle">
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<joint
name="index_pip"
type="revolute">
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link="index_proximal" />
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link="index_middle" />
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velocity="1" />
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name="index_distal">
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xyz="-0.00808923055582758 1.93080737102697E-05 0.00798339883319979"
rpy="0 0 0" />
<mass
value="0.00340429158070606" />
<inertia
ixx="1.62309490448785E-07"
ixy="-1.01832013903329E-10"
ixz="5.96297882787527E-08"
iyy="1.79106636488149E-07"
iyz="1.03699090515246E-10"
izz="1.33154677949336E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/index_distal.STL" />
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/index_distal.STL" />
</geometry>
</collision>
</link>
<joint
name="index_dip"
type="revolute">
<origin
xyz="0.00275561954550102 0 0.0317024252339397"
rpy="0 0 0" />
<parent
link="index_middle" />
<child
link="index_distal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.4"
effort="1"
velocity="1" />
<mimic
joint="index_pip"
multiplier="0.8917"
offset="0" />
</joint>
<link
name="thumb_metacarpals_base2">
<inertial>
<origin
xyz="0.0237124204018698 -0.0032577131736877 -0.00179111866963011"
rpy="0 0 0" />
<mass
value="0.000997223173061939" />
<inertia
ixx="6.76160511689089E-08"
ixy="1.91404111587181E-09"
ixz="1.04859363439431E-09"
iyy="2.37490427138065E-08"
iyz="-2.27623712303909E-08"
izz="5.30002826829265E-08" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/thumb_metacarpals_base2.STL" />
</geometry>
<material name="BlackAccent"/>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/thumb_metacarpals_base2.STL" />
</geometry>
</collision>
</link>
<joint
name="thumb_cmc_yaw"
type="revolute">
<origin
xyz="-0.00091528 -0.0050818 0.057392"
rpy="0 0 0" />
<parent
link="hand_base_link" />
<child
link="thumb_metacarpals_base2" />
<axis
xyz="-1 0 0" />
<limit
lower="0"
upper="1.40"
effort="1"
velocity="1" />
</joint>
<link
name="thumb_metacarpals_base1">
<inertial>
<origin
xyz="0.00119725687810912 -0.00621320302666009 0.00980327295810525"
rpy="0 0 0" />
<mass
value="0.00459735542885393" />
<inertia
ixx="7.31554884578251E-07"
ixy="-4.16733983238535E-08"
ixz="-7.2737170474297E-08"
iyy="5.38393885777219E-07"
iyz="-1.053796826157E-07"
izz="3.7251724699777E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/thumb_metacarpals_base1.STL" />
</geometry>
<material name="BlackAccent"/>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/thumb_metacarpals_base1.STL" />
</geometry>
</collision>
</link>
<joint
name="thumb_cmc_roll"
type="revolute">
<origin
xyz="0.024508 -0.002864 0.0035063"
rpy="2.0706 0 0" />
<parent
link="thumb_metacarpals_base2" />
<child
link="thumb_metacarpals_base1" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.22"
effort="1"
velocity="1" />
</joint>
<link
name="thumb_metacarpals">
<inertial>
<origin
xyz="0.00390866481652528 -0.00101974751912615 0.0259651493856781"
rpy="0 0 0" />
<mass
value="0.0229652105738877" />
<inertia
ixx="8.08206700956942E-06"
ixy="1.10936410987657E-10"
ixz="1.91257683128181E-07"
iyy="9.56472367001086E-06"
iyz="1.05154347030226E-11"
izz="2.32483986337667E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/thumb_metacarpals.STL" />
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/thumb_metacarpals.STL" />
</geometry>
</collision>
</link>
<joint
name="thumb_cmc_pitch"
type="revolute">
<origin
xyz="-0.0011523 -0.00048559 0.030795"
rpy="0 0.49978 1.5708" />
<parent
link="thumb_metacarpals_base1" />
<child
link="thumb_metacarpals" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="0.79"
effort="1"
velocity="1" />
</joint>
<link
name="thumb_proximal">
<inertial>
<origin
xyz="-0.00159524245480475 -0.0013767378761429 0.0128091130596459"
rpy="0 0 0" />
<mass
value="0.00515933884351986" />
<inertia
ixx="4.62234120892736E-07"
ixy="9.47946779694072E-10"
ixz="-7.29248165702153E-08"
iyy="6.16281981622134E-07"
iyz="5.4065837324197E-09"
izz="2.41025581524031E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/thumb_proximal.STL" />
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/thumb_proximal.STL" />
</geometry>
</collision>
</link>
<joint
name="thumb_mcp"
type="revolute">
<origin
xyz="0.0064539 0 0.055858"
rpy="0 0 0" />
<parent
link="thumb_metacarpals" />
<child
link="thumb_proximal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.05"
effort="1"
velocity="1" />
</joint>
<link
name="thumb_distal">
<inertial>
<origin
xyz="-0.00674917497723541 0.00146540201683087 0.0129643501531232"
rpy="0 0 0" />
<mass
value="0.00408975520701271" />
<inertia
ixx="2.31173968977013E-07"
ixy="-2.59638542422813E-09"
ixz="6.89726337094602E-08"
iyy="2.76670571861199E-07"
iyz="6.47208101373243E-09"
izz="1.17838414072026E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/thumb_distal.STL" />
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/thumb_distal.STL" />
</geometry>
</collision>
</link>
<joint
name="thumb_ip"
type="revolute">
<origin
xyz="0.0053547 0 0.034485"
rpy="0 0 0" />
<parent
link="thumb_proximal" />
<child
link="thumb_distal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.22"
effort="1"
velocity="1" />
<mimic
joint="thumb_mcp"
multiplier="1.1619"
offset="0" />
</joint>
</robot>
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